Remote control scheduler and method for autonomous robotic device

ABSTRACT

A method of scheduling a robotic device enables the device to run autonomously based on previously loaded scheduling information. The method consists of a communication device, such as a hand-held remote device, that can directly control the robotic device, or load scheduling information into the robotic device such that it will carry out a defined task at the desired time without the need for further external control. The communication device can also be configured to load a scheduling application program into an existing robotic device, such that the robotic device can receive and implement scheduling information from a user.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to and the benefit of U.S. provisionalpatent application Ser. No. 60/582,531, filed Jun. 24, 2004, thedisclosure of which is being incorporated herein by reference in itsentirety. This application is related to U.S. patent application DocketNo. IRO-013, entitled “Programming and Diagnostic Tool for a MobileRobot,” and filed of even date herewith, the disclosure of which isbeing incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates generally to the field of roboticsincluding the control of an autonomous robotic device and, moreparticularly, to a remote control device and associated method forinputting schedule information via IR signals to an autonomous roboticdevice, such as a cleaning robot.

BACKGROUND OF THE INVENTION

Robotic cleaning devices can be used to clean a defined area based on aprogram stored in the robot's processor. The purpose of these devices isto clean efficiently a room without the need for a user to physicallycontrol the cleaning device, or even be in the room when the floor isbeing cleaned. This can effectively reduce the time necessary forhousehold chores, reduce noise pollution by enabling a room to becleaned without the need for a user to be present, or enable an elderlyor disabled person to clean a room which would otherwise be difficult orimpossible to achieve without aid.

A number of methods for achieving this aim are currently in use. Forexample robotic cleaning devices are available which allow the movementof the robot to be controlled directly by a remote communication deviceto either follow a path defined by commands from the remote device, orto follow a cleaning path based on a program stored in the robot. Thesedevices however require a user to be present in order to control themotion of the robot or directly implement a stored cleaning mission.

Devices are available which allow a robotic cleaner to be controlledremotely from a separate electronic device, such as a PC with a wirelesscommunication attachment. These devices can therefore be controlled froma scheduling and control application program within the computer, thusallowing the device to operate without the need for a user to bepresent. These devices require a separate PC to be operational and inlinked communication with the robotic device before it can carry out atask and complete a scheduling assignment.

Robotic cleaners are also available which allow a user to directly inputscheduling and control information into the robotic device using buttonslocated on the device itself. As a result, this device can workautonomously once a schedule has been physically input into the roboticdevice. However, this device does not allow scheduling information to becommunicated to the device from a remote controller. As a result, thedevice would not completely alleviate the need to physically approachthe controller, bend down, and input the scheduling informationmanually. This could limit the ability of the device to be easily usedby a person of limited mobility.

None of the current robotic cleaners allow all the desired functions ofa robotic cleaning robot to be enabled from a single remote device,without the need for further external control. The devices currentlyavailable require either an external source to control the schedulingfunction, or a direct physical input of the scheduling informationthrough user inputs on the robotic device itself. Allowing a roboticcleaner to run autonomously a scheduling application without externalinput, receive updated scheduling and other user applications orinformation from a portable remote device without direct physicalcontact, and also allow the robotic cleaner to be directly controlledremotely from the same portable remote device, if and when required,would greatly increase the utility of the robotic cleaner and broadenthe range of applications for a user.

From the foregoing, there is a need for a method and apparatus to allowa robotic cleaning device to operate autonomously to a remotelycommunicated user defined schedule, without the need for a user to bepresent or for a further control input from an external source. It isalso desirable to provide a single portable apparatus that can load theconfiguration applications into the robotic device, select andcommunicate scheduling information to the robotic device, and control afunction of a robotic device based on a direct user command, to improvethe utility, efficiency and usability of a robotic cleaning device.

SUMMARY OF THE INVENTION

The invention provides a method and apparatus for configuring a roboticdevice to operate according to a user defined schedule. Uponconfiguration of the robotic device, the method and apparatus allows auser to input scheduling information into the robotic device using aremote communication device, after which the robotic device is capableof operating without any further input from a user or the remote device.The communication device can also be used to control directly a functionof the robotic device, or to receive information from the roboticdevice. One or more implementations of the invention may provide one ormore of the following features.

In one embodiment of the invention, a configuration tool can be used toconfigure a robotic device. This method includes the steps of linkingthe configuration tool to the robotic device, authenticating theconfiguration tool, and loading, via the configuration tool, informationinto the robotic device after successful authentication of theconfiguration tool. The information loaded into the robotic device caninclude a scheduling application program to enable a schedulingcapability of the device. The loading step also allows the communicationdevice to retro-fit, reprogram, and upgrade the scheduling capability ofthe robotic device at any time.

In one configuration of the invention, the link connecting theconfiguration tool to the robotic device can include a communicationport in each device, such as but not limited to a serial port, USB port,or other appropriate communication port. The robotic device and theconfiguration tool can then communicate through a cable plugged into thecommunication port of each device. In an alternative configuration, thelink between the configuration tool and the robotic device can be adirect physical connection, wherein one device includes a male serialport adapter, or other communication port adapter such as a USBconnector, which plugs directly into a female port on the other device.In a further alternative configuration, the robotic device andconfiguration tool may link through a wireless connection, wherein aremote signal, such as an infrared, radio frequency, or otherappropriate frequency signal, is used to load information from theconfiguration tool to the robotic device.

The scheduling application program loaded into the robotic device canenable the robotic device to implement further scheduling informationfrom a remote device. As a result, the robotic device can be enabled torun autonomously based on scheduling information loaded into, and storedin, the robotic device without further user input. One embodiment of theinvention allows the remote device to be a hand-held input device thatcan communicate with the robotic device through a wireless connection.

One embodiment of the invention includes a method for configuring arobotic device for autonomous use, including the steps of selectingscheduling information in a remote device, linking the remote device tothe robotic device, authenticating the link, communicating thescheduling information from the remote device to the robotic device, andstoring the scheduling information in the robotic device. The linkbetween the robotic device and the remote device can be a wirelessconnection, or any other linking method, such as those described above.

Once the scheduling information has been stored in the robotic device,it can operate in accordance with this stored scheduling information. Asa result, the stored scheduling information enables the robotic deviceto run autonomously without further user input. In one embodiment, thestored scheduling information can include the date, day, and/or time atwhich the robotic device should operate, and also the number and type ofmission it should run at each scheduled time.

Another embodiment of the invention includes a method of communicatingwith a robotic device. This method includes the steps of linking asingle communication device to the robotic device, authenticating thelink, and transmitting information from the communication device to therobotic device, wherein the transmitted information includes controllinga function of the robotic device, and at least one of configuring therobotic device and providing scheduling information for the roboticdevice. As a result, a single communication device can provide multiplefunctions for the control, scheduling, and configuration of a roboticdevice.

In various embodiments of the invention the transmitted information caninclude control and scheduling information, control and configurationinformation, or control, configuration and scheduling information. Thiscontrol, configuration, and scheduling information need not betransmitted at the same time, but can be communicated independently, andat different times to enable one specific aspect of the invention. Thecommunication device used to transmit this information can include, butis not limited to, a hand-held remote device, a PC, a laptop, and awireless communication device.

In one embodiment of the invention, the method can further include thestep of transmitting information from the robotic device to thecommunication device. This information transmitted from the roboticdevice can include, but is not limited to, an error report, a powerlevel report, currently stored scheduling information, a status report,authentication information, and a user maintenance report.

One embodiment of the invention provides an apparatus for communicatingwith a robotic device. This apparatus includes a memory for storinginformation, at least one port for communicating with the roboticdevice, at least one authenticator for authenticating the roboticdevice, and at least one transmitter for transmitting information to therobotic device, via a communication port. The information communicatedto the robotic device includes information for controlling a function ofthe robotic device, and at least one of configuration information andscheduling information for the robotic device. In an alternativeembodiment, the apparatus can also receive information transmitted fromthe robotic device.

The apparatus can be a hand-held remote device, or other communicationdevice, and can further include a wireless communication device. In oneembodiment, the apparatus can include a display, allowing a user to viewinformation associated with the running of the apparatus. The apparatuscan also include at least one user input, allowing the user, forexample, to input information to be communicated to the robotic device,directly control a function of the robotic device through a wirelessconnection, upload information from the robotic device, or search for orcontrol a function of the remote device itself. In various embodimentsof the apparatus, the user input can include, but is not limited to, aswitch, a joystick, a button, a touch sensitive pad, a roller-ball, andan acoustic input, such as a voice command.

In another embodiment, the invention can include a robotic device thatincludes a memory for storing information, at least one port forreceiving information from a communication device, and at least oneauthenticator for authenticating the communication device. Thecommunicated information includes information for controlling a functionof the robotic device, and at least one of configuration information andscheduling information for the robotic device. This control,configuration, and scheduling information need not be received at thesame time, but can be received independently, and at different times, toenable one specific aspect of the invention.

The robotic device is adapted to operate autonomously without furtheruser input based upon scheduling information received from thecommunication device. Thus, upon loading of a scheduling applicationprogram, either pre-installed or by a communication device, a user canenable the robotic device to run autonomously according to the receivedscheduling information. The robotic device can consist of either amobile robotic device, such as a cleaning robot, or a stationary roboticdevice. In one embodiment it can also include at least one transmitterfor transmitting information to the communication device.

In yet another aspect, the invention can consist of a robotic systemincluding both a robotic device and a separate communication device forcommunicating information with the robotic device. The communicatedinformation consists of information for controlling a function of therobotic device, and at least one of configuration information andscheduling information for the robotic device. In one embodiment of theinvention, the robotic device can also transmit information to thecommunication device. In one embodiment, the communication device can bea hand-held remote device, while the robotic device can be either amobile robotic device or a stationary robotic device.

BRIEF DESCRIPTION OF THE DRAWINGS

The objects and features of the invention can be better understood withreference to the drawings described below, and the claims. The drawingsare not necessarily to scale, emphasis instead generally being placedupon illustrating the principles of the invention. In the drawings, likenumerals are used to indicate like parts throughout the various views.

FIG. 1 is a block diagram showing one configuration of the communicationdevice and robotic device system, in accordance with one embodiment ofthe invention.

FIG. 2A is a schematic front-end view of the communication device and/orconfiguration tool, in accordance with one embodiment of the invention.

FIG. 2B is a schematic top view of the communication device of FIG. 2A.

FIG. 2C is a schematic left-side view of the communication device ofFIG. 2A.

FIG. 2D is a schematic right-side view of the communication device ofFIG. 2A.

FIG. 2E is a schematic rear-end view of the communication device of FIG.2A.

FIG. 3 is a schematic perspective view of the communication deviceand/or configuration tool with an open front cover, in accordance withone embodiment of the invention.

FIG. 4 is a schematic display for a communication device and/orconfiguration tool, in accordance with one embodiment of the invention.

FIG. 5 is a schematic top view of a communication device and/orconfiguration tool with the display of FIG. 4, in accordance with oneembodiment of the invention.

FIG. 6A is a schematic diagram illustrating a communication device inwireless communication with mobile and stationary robotic devices, inaccordance with one embodiment of the invention.

FIG. 6B is a schematic diagram illustrating a communication device incommunication, through a communication port and cable, with a mobilerobotic device, in accordance with one embodiment of the invention.

FIG. 6C is a schematic diagram illustrating a communication device indirect physical communication with a mobile robotic device, inaccordance with one embodiment of the invention.

FIG. 7 is a block diagram featuring a method for implementing and usinga system including a robotic device and a communication device, inaccordance with one embodiment of the invention.

DETAILED DESCRIPTION

The invention provides a method and apparatus for configuring a roboticdevice to run autonomously according to stored scheduling information.The apparatus includes a communication device that can be used todirectly control a function of the robotic device. For example, thecommunication device can be used to provide directional control to amobile robotic device such as a cleaning robot. The communication devicecan also be used to load configuration information, such as a schedulingapplication program, into the robotic device, such that the roboticdevice can run autonomously without further user input upon storing userdefine scheduling information. This scheduling information can also becommunicated to the robotic device via the communication device.

FIG. 1 is a block diagram showing one possible configuration of acombined scheduling tool and communication device 10. in thisconfiguration, a single communication device 12 is adapted andconfigured to carry out multiple tasks related to the scheduling andcontrol of a robotic device. Firstly, the communication device 12 can belinked with a robotic device in order to download configurationinformation 14 into the robotic device. This configuration information14 may include a new application program to enable the robotic device tocarry out new tasks, or be adapted to enhance the tasks it can alreadyperform. For example, the configuration information 14 can include ascheduling application program 20, to enable the robotic device to carryout a set task at a set time. The task to be performed and time at whichit is to be performed can be downloaded with the application program orcommunicated at a later date through the communication device 12, basedon the requirements of the user. The application can also configure therobotic device to receive signals remotely from the communication device12 in order to enable user defined scheduling.

In one embodiment of the device, this configuration information 14 canbe sent through a wireless connection with the robotic device, with theinformation sent by infrared (IR), radio frequency (RF), or otherappropriate signal. In alternative embodiments, the schedulinginformation could be sent through communication ports linked by a cable(for example a USB or serial port link), or even by a direct physicalconnection between the communication device 12 and the robotic device.For a direct communication, a male connector (e,g. USB, serial port orother appropriate connection element) on one device mates directly witha female connector on the other device. In further alternativeembodiments, the direct communication can include a docking station onthe robotic device, such that the communication device can be removeablyattached to the robotic device, thus allowing the communication deviceto act as a direct user interface between a user and the robotic device.

The configuration information 12 can also include information 22 forupgrading the existing capabilities of the robotic device orreprogramming the device to carry out new tasks. This upgradinginformation 22 can include, but is not limited to, new versions of thesoftware installed in the robotic device, diagnostic information tocheck the status of the robotic device, and programs to allow therobotic device to send information to the communication device (eitherprompted by the user or upon the occurrence of a certain event). Furtherupgrading or reprogramming information 22 can include programs andapplications allowing the robotic device to carry out completely newtasks (such as, but not limited to, working as a toy, security device,or searching device for lost objects) or “learning” programs andapplications allowing the robotic device to adapt its own programmingbased on information gained through carrying out specified tasks. Theselearning programs can, for example, allow a mobile robotic device 26 tomap out a room and remember where the objects in the room are placed, oradapt its scheduling based on prior patterns of user behavior.

The communication device 12 can also be configured to communicatescheduling information 16 to a robotic device. In one embodiment, thisscheduling information 16 is sent through a wireless connection betweenthe communication device 12 and the robotic device, although again inalternative embodiments, communication ports providing a wired link(such as a USB or serial port link), or a direct physical connection canbe used. The scheduling information can be communicated to both astationary robotic device 24, or a mobile robotic device 26. The mobilerobotic device 26 can, for example, be a cleaning robot such as theRoomba® brand floor vacuum sweeper available from iRobot Corporation,Burlington, Mass. The stationary robotic device 24 can, for example, bea portable barrier signal transmitter designed to send an IR beam alonga designated path. The mobile robotic device 26 can be configured tochange direction upon encountering this signal, thus the IR beam fromthe portable barrier signal transmitter acts as a “virtual wall” for themobile robotic device (see U.S. Pat. No. 6,690,134, incorporated hereinby reference in its entirety). The stationary robotic device 24 can alsobe a docking station, home-base, or charging device for the roboticdevice.

In one embodiment of the invention, scheduling information 16 can beinput into the communication device 12 through a user interface of thedevice 12. This information can then be communicated to a stationary 24or mobile 26 robotic device through a wireless connection between thecommunication device 12 and the robotic device. The robotic devicestores this information and runs according to the stored schedulinginformation 16 without the need for any other input from a user,controller or communication device 12. Changes in the schedulinginformation 16 stored in the robotic device can be made by simplyinputting new scheduling information 16 into the communication device 12and communicating it to the robotic device. In an alternativeembodiment, a further step, such as but not limited to clearing thestored scheduling information 16 from the robotic device's memory orinputting a code (either into the communication device 12 or directlyinto the robotic device), may be required before new schedulinginformation 16 can be loaded into the robotic device.

In one embodiment of the invention, the robotic device can be configuredto provide a visual or audio signal upon the completion of a transfer ofconfiguration or scheduling information. In an alternative embodiment, areturn signal can be sent from the robotic device to the communicationdevice 12 upon the successful completion of an information transfer. Therobotic device can also be configured to illuminate a status light oneither device if and when a scheduling program is stored in the memory.

The scheduling information 16 can include, but not be limited to, thedate, day and time at which the robotic device operates, and may alsoinclude other information such as the length of time the robotic deviceshould operate during a scheduled event, the mission or task it shouldcarry out for each scheduled operation, and the number of missions ortasks it should carry out during a scheduled operation. The schedulinginformation can also include more complex calendar based information,such that the robotic device may be able to adjust its start time basedon the time of year (for example due to time differences for daylightsavings time or for the available hours of daylight), or adjust itsschedule for holidays.

A robotic device can be configured or programmed to run a number ofseparate programs. For example, a mobile cleaning robot can beconfigured to clean different areas of a room or building, clean aparticular spot on a floor, clean at varying power levels between aminimum to a maximum setting, return to a docking station when powerdrops to a specific level or the dirt compartment is full, or carry outother specific tasks. Using the scheduling information 16, the missionsor tasks that the robotic device carries out can then be tailored to auser's requirements, for example by only carrying out a high powercleaning mission at times when nobody is in the house. In one embodimentof the invention, a stationary robotic device 24, such as a portablebarrier signal transmitter, can be scheduled to operate at the same timeas a mobile cleaning robot, thus saving power. Alternatively, thestationary robotic device 24 may only turn on during some scheduledoperations depending on whether a user want to clean the areapotentially blocked by the portable barrier signal transmitter or not.

In one embodiment, the communication device 12 can also be used toprovide direct control information 18 to a robotic device, based on auser input. This can involve directly driving a function of a roboticdevice 28, or initiating the robotic device to carry out a preprogrammedmission or task 30. In one embodiment of the invention, thecommunication device 12 includes a user input, or a number of inputs,such as, but not limited to, switches, a joystick, buttons, a touchsensitive pad, and a roller-ball. Using one of, or a combination of,these user inputs, a user can command the robot to carry out a specificmovement or action immediately. For example, the driving information 28may include, but not be limited to, commands to make a moveable roboticdevice turn left, turn right, move forward, and move backward. In thespecific embodiment of a mobile cleaning robot, the driving information28 may also include such commands as start and stop cleaning, or cleanat a specific power level.

The driving information 28 may also include commands to carry outpre-programmed missions, tasks or actions. For example, thecommunication device 12 can include buttons or other user inputs thatcommand a robotic device to specific task when the user input isenabled. For a mobile cleaning robot, these task commands 30 couldinclude cleaning a specific spot, carrying out a specified cleaningmission, cleaning at a specific power level, stop and power down, powerup, or return to a docking station.

FIGS. 2A-2E show five views of an example of a particular communicationdevice 40. FIG. 2A shows a front-end view of the communication device40, showing a wireless communication port 42, allowing the communicationdevice 40 to communicate remotely, using for example IR signals, with arobotic device or other electronic device. The wireless communicationport 42 can be used to provide configuration, scheduling, and controlinformation to a robotic device, and optionally also receive informationfrom a robotic or other device.

In one embodiment of the invention, the communication device can beconfigured to receive a range of information from a robotic device. Inthe case of a robotic cleaning device, this information can include, butnot be limited to, receiving power level or dirt compartment levelstatus reports, error reports, information on when filters, sensors orbrushes need to be cleaned, “dirt alerts” when a dirty area of floor isdetected, or mission status reports (e.g. missioncompleted/abandoned/battery depleted, etc.)

FIG. 2B shows a top or plan view of the communication device 40. Thecommunication device 40 includes a number of user input devices,including a button 44, a set of buttons 48, and a second set of buttons50. Each of these buttons (i.e., switches) can be configured to inputdifferent information into the communication device 40, or providedifferent information to a robotic device. In one embodiment of theinvention, the function of these buttons can differ when a front coveror flip lid 54 is in either an open or closed position. In thisembodiment, with the front cover 54 open, the buttons can be used toinput and store scheduling or other information into the communicationdevice 40, while with the lid 54 closed the buttons can be used tocommunicate with a robotic device and provide configuration, scheduling,and control information to the robotic device.

In one embodiment, button 44 could be used to initiate the communicationof configuration or scheduling information to a robotic device, controla specific task of the robotic device (such as initiating docking), orturn the robotic device, or the communication device 40, On and off.Buttons 48 can be used to provide input information into thecommunication device 40 when setting up scheduling information, enablethe loading of specific configuration information into a robotic device,or control a specific mission, task or action of the robotic device.Buttons 50 may be used to input scheduling information into thecommunication device 40, enable the loading of configuration orscheduling information into a robotic device, and control a specificaction of the robotic device. In one embodiment of the invention thebuttons 50 could be used to control directly the movement of a cleaningrobot, with the three buttons assigned to turning left, turning right,and moving forward. In an alternative embodiment, one or other of thebuttons can also be used to lock the robotic device in a certain mode ofoperation, or in an “off” setting.

The communication device shown in FIG. 213 also includes a display 46.This display 46 can for example be a liquid crystal display (LCD),allowing the user to see the information being inputted into thecommunication device 40, showing which configuration information,scheduling information or control information a robotic device is beingsent, or for showing information sent from the robotic device to thecommunication device 40.

FIG. 2C shows a left-side view of the communication device 40. This viewshows the side of the flip lid 54 when the lid is closed. This frontcover 54 can be used to, but not limited to, change the functions of theuser inputs, show or hide portions of the display 46, uncover otherhidden user inputs, or uncover instructions for the use of the device.Indentations 58 below the edge of the front cover 54 are included toallow for easy opening of the cover 54 by a user. The casing 56 or thecommunication device 40 can be made of either metal or plastic, and caninclude a removable cover to allow access to a battery compartment (notshown).

FIG. 2D shows a right-side view of the communication device 40. Thisview includes a communication port 52 to allow the communication device40 to connect to another device for uploading and downloadinginformation, such as, but not limited to, authenticating information,configuration information, scheduling information, control information,and technical information. The communication port 52 can be, but is notlimited to, a serial port, a parallel port, a USB port, an IEEE 1394“Firewire” port, a PS/2 port, a modem port, or an Ethernet network port.

FIG. 2D shows a rear-end view of the communication device 40. In oneembodiment of the invention, the communication device 40 of FIGS. 2A-2Eis sized and shaped to fit in a users hand, and can be used in the samemanner as a television or video remote control. In an alternativeembodiment of the invention, other user input devices can be used as acommunication device 40 to communicate with a robotic device. Suchalternative devices include, but are not limited to, another hand-heldremote device, a stationary remote communication device with userinterface, a PC, a laptop computer, and a wireless communication device,such as a mobile phone or personal digital assistant (PDA).

FIG. 3 is a schematic view of the communication device 40 of FIGS. 2A-2Ewith an open front cover 54. As previously discussed, the opening of thefront cover 54 can be used to, amongst other things, uncover hidden userinputs, change the function of certain user inputs, uncover a portion ofthe display 46, enable certain “locked” functions of the communicationdevice 40, or uncover instructions printed on the inside of the cover54.

FIG. 4 is a image of an example display 60 for a communication device.This display 60 includes a day of the week indicator 62, a schedulefrequency indicator 64, indicating whether a specific scheduling task isto be performed once or repeatedly on a weekly basis, and timeindicators showing whether a scheduled task is to be performed in the“am” or “pm” 66, and at what specific time 68. The display 60 alsoincludes a power indicator 70 and a signal indicator 72 that canindicate when a signal is being communicated from or to thecommunication device. A further indicator 74 can be used to displayadditional information, such as, but not limited to, the number of thescheduled task, the type of task to be performed, and the status of adevice.

In alternative embodiments of the invention, the display 60 could alsobe configured to show such things as options for the type ofconfiguration information that can be communicated, the range and typeof scheduling information available for a given robotic device, andpreviously transmitted scheduling information. A display 60 can also beconfigured to show information received from a robotic device, asdiscussed above.

FIG. 5 shows an image of a communication device 80 with the display 60,in accordance with one embodiment of the invention. This configurationconforms generally with the communication device 40 shown in FIGS. 2A-2Eand FIG. 3, with the user inputs assigned specific tasks. In thisconfiguration, button 82 is an on/off switch, button 84 enables a newscheduling program or saves an inputted scheduling program, button 86deletes inputted information, and button 88 enables the communicationdevice 80 to send scheduling information to a robotic device. Furtheruser inputs are configured to provide direct control commands to amobile robotic device, with button 90 providing a “move forward”command, button 92 providing a “turn left” command, and button 94providing a “turn right” command to the robotic device. The display 60unit embedded in the communication device 80 conforms generally withthat of FIG. 4.

FIGS. 6A-6C show various means of linking a communication device with astationary or mobile robotic device, In the system configuration 100shown in FIG. 6A, a communication device 102 is configured tocommunicate through a wireless connection with either or both of amobile robotic device 104 and a stationary robotic device 106. In oneembodiment, the wireless link consists of an IR signal 108, which can besent from the communication device 102 to the mobile 104 and stationary106 robotic devices. In this configuration, further IR signals 108 canbe sent from the robotic devices to the communication device 102, asindicated by the arrows 110. In this system, configuration, scheduling,and control information can be communicated from the communicationdevice 102 to the mobile 104 and stationary 106 robotic devices, whileinformation such as, but not limited to, status reports and errorreports can be communicated back to the communication device 102 fromthe robotic devices. In alternative embodiments, the communicationdevice 102 can communicate information to a single mobile 104 orstationary 106 robotic device, that can then send the communicatedinformation to further devices directly, without the need for additionallinking to the communication device 102. In this configuration, multiplemobile 104 or stationary 106 robotic devices can be configured,scheduled, and/or controlled through a link with only a single roboticdevice.

In the system configuration 120 shown in FIG. 6B, a mobile roboticdevice 104 is linked to a communication device 102 through a cable 122.The cable connects both devices through communication ports located oneach device. These ports can be a serial port, parallel ports, USBports, IEEE 1394 “Firewire” ports, PS/2 ports, modem ports, Ethernetnetwork ports, or other appropriate communication ports. In oneembodiment of this system configuration 120, the cable connection 122can be used to quickly load configuration information into a mobilerobotic device 104. This system configuration 120 can also be used toload configuration information into a stationary robotic device 106.This configuration information can be used to either enable a newscheduling function on the robotic device, or upgrade or reprogramexisting functions of the robotic device, as discussed above. After theconfiguration information has been loaded through the cable 122, thecable 122 can be removed. Further scheduling information and controlinformation can then be communicated to the robotic device using awireless connection, as shown in system configuration 100 and FIG. 6A.

In the system configuration 130 shown in FIG. 6C, a mobile roboticdevice 104 is linked to a communication device 102 through a directconnection 132. This direct connection can consist of a male connectionport on the communication device 102, that mates directly to a femaleconnection port on the mobile robotic device 104. Again, this systemconfiguration 130 can also be used to link the communication device 102to a stationary robotic device 106. As in system configuration 120,shown in FIG. 6B, this system configuration can be used to loadconfiguration information into a robotic device, after which schedulingor control information can be communicated to the robotic device throughthe wireless communication configuration 100 shown in FIG. 6A. In oneembodiment of the invention, the male connection port on thecommunication device 102 can retract or fold into the communicationdevice 102 when not in use.

FIG. 7 shows a block diagram featuring one method 140 for implementingand using a system including a robotic device and a communicationdevice. In this method 140, a single communication device can be used toprovide configuring, scheduling, and control information to a roboticdevice.

For a robotic device without a pre-installed scheduling applicationprogram, or a robotic device needing reprogramming or upgrading, thecommunication device can be used to load the required configurationinformation into the robotic device. This requires first linking 142 thecommunication device to the robotic device, either through a wirelessconnection, communication port, or direct connection. Upon optionalauthentication of the link using an authenticator (e.g., by hardware orsoftware based systems), the desired configuration information can beloaded 144 into the robotic device, at which time it is stored 146 inmemory of the robotic device. After this has been completed, the roboticdevice is ready for use 148. For robotic devices that have already beenconfigured, steps 142, 144, and 146 are not necessary.

Once the robotic device and communication device are ready for use 148,the communication device can be used to provide scheduling informationor direct control information to the robotic device. In one embodiment,this information is communicated through a wireless link, although acommunication port link or direct link is also possible.

For enabling the robotic device to run according to a user definedschedule, the scheduling information is first entered into thecommunication device 150. The communication device can then be linked152 to the robotic device and, upon optional authentication of thislink, the scheduling information can be loaded 154 into the roboticdevice and stored 156 in the device's memory. The robotic device is thenfree to run autonomously 158, based on this stored schedulinginformation. Depending on the schedule, the robotic device can startimmediately or at a future time.

As well as providing scheduling information to a robotic device, thecommunication device can also directly control one or more function ofthe robotic device. Again, with the communication device and roboticdevice ready for use 148, a link can be formed 160 between thecommunication device and robotic device. Once the link has beenauthenticated, control information entered 162 into the communicationdevice is received 164 immediately by the robotic device, which thenoperates 166 according to the user inputted control information.

The scheduling and control functions can run independently, such thatthe robotic device can be controlled by the user even when the roboticdevice is not scheduled to run, and alternatively run a scheduledmission without any need for control information. In one embodiment ofthe invention, the control function can be configured to overrule thescheduling function, so that during a scheduled event a user can takedirect control of the robotic device without waiting until the scheduledtask is completed. In an alternative embodiment, the scheduling functioncan be set as the dominant function, and thus upon the start of ascheduled task overrule any direct user control information beingcommunicated at that time.

It should be noted that these functions can at any time be modified orupdated by downloading new configuration information into the roboticdevice. In one embodiment of the invention the communication device canalso be configured, updated or reprogrammed by linking the communicationdevice to another device, such as but not limited to a PC, laptop, orother programming or diagnostic tool. As a result, both thecommunication device and the robotic device can be constantly updated tomeet the requirements of the user and advancements developed by thesystem manufacturers or suppliers.

The invention may be embodied in other specific forms without departingform the spirit or essential characteristics thereof. The foregoingembodiments, therefore, are to be considered in all respectsillustrative rather than limiting the invention described herein. Scopeof the invention is thus indicated by the appended claims, rather thanby the foregoing description, and all changes that come within themeaning and range of equivalency of the claims are intended to beembraced therein.

What is claimed is: 1-33. (canceled)
 34. A method of cleaning a room,the method comprising: transmitting from the cleaning robot to a mobilephone a status of the cleaning robot; and receiving at the cleaningrobot from the mobile phone, in response to an operator command input atthe mobile phone and at least in part indicative of a schedule,information including instructions configured to cause a processor ofthe cleaning robot to execute a cleaning operation in the room accordingto the schedule, wherein executing the cleaning operation in the roomaccording to the schedule comprises: leaving a stationary chargingdevice at which the cleaning robot is docked according to the schedule,and navigating about a floor surface of the room.
 35. The method ofclaim 34, wherein transmitting the status to the mobile phone comprisestransmitting a mission status report.
 36. The method of claim 35,wherein the mission status report is transmitted after the cleaningoperation is complete, the mission status report being indicative ofcompleteness of the mission.
 37. The method of claim 35, whereintransmitting the mission status report comprises transmitting themission status report during the cleaning operation.
 38. The method ofclaim 34, wherein transmitting the status to the mobile phone comprisestransmitting a map of the room.
 39. The method of claim 38, whereintransmitting the map of the room comprises a position of an object inthe room.
 40. The method of claim 34, further comprising storing theschedule on a memory of the cleaning robot.
 41. The method of claim 34,wherein transmitting the status to the mobile phone comprisestransmitting an error report indicative of an error of at least one of afilter, a sensor, a brush, a drive, or a dust compartment of thecleaning robot.
 42. The method of claim 34, wherein transmitting thestatus to the mobile phone comprises transmitting a power reportindicative of at least one of a stop and power status, a low powerstatus, a recharging status, and a specific power level.
 43. The methodof claim 34, further comprising transmitting the status of the cleaningrobot to the stationary charging device using a radiofrequency signal.44. The method of claim 34, further comprising receiving an infraredsignal from the stationary charging device, wherein navigating about thefloor surface comprises navigating about the floor surface in responseto the infrared signal from the stationary charging device.
 45. Themethod of claim 34, further comprising receiving an infrared signal froma portable signal transmitter, wherein navigating about the floorsurface comprises navigating about the floor surface in response to theinfrared signal from the portable signal transmitter.
 46. A method ofcontrolling a cleaning robot to clean a room, the method comprising:initiating formation of a wireless communication link between thecleaning robot and a mobile phone; and entering an operator commandinput into the mobile phone to cause the mobile phone to transmit, usingthe wireless communication link, information to the cleaning robot, theoperator command input being at least in part indicative of a schedule,and the information comprising instructions configured to cause aprocessor of the cleaning robot to perform operations includingexecuting a cleaning operation in the room according to the schedule,wherein executing the cleaning operation in the room according to theschedule comprises: leaving, according to the schedule, a stationarycharging device at which the cleaning robot is docked, and navigatingabout a floor surface of the room.
 47. The method of claim 46, whereinentering the operator command input comprises entering an adjustment toscheduling information to generate the schedule, the schedulinginformation being transmitted from the cleaning robot to the mobilephone using the wireless communication link.
 48. The method of claim 46,wherein entering the operator command input comprises entering a starttime comprising at least one of a selected time, a selected date, and aselected day, and wherein the operations further comprise leaving,according to the schedule, the stationary charging device at the starttime.
 49. The method of claim 46, wherein: entering the operator commandinput comprises entering a return command, and the operations furthercomprise returning to the stationary charging device in response to thereturn command.
 50. The method of claim 46, wherein: entering theoperator command input comprises designating a cleaning path selectedfrom among a plurality of cleaning paths, and the operations furthercomprise navigating about the floor surface of the room according to thedesignated cleaning path.
 51. The method of claim 50, wherein:designating the cleaning path from among the plurality of cleaning pathscomprises entering a movement command, and the operations furthercomprise moving, based on the movement command, in at least one of aforward direction, leftward direction, and rightward direction.
 52. Themethod of claim 46, wherein entering the operator command input to causethe mobile phone to transmit the information to the cleaning robotcomprises: entering the operator command input into the mobile phonesuch that the mobile phone stores the operator command input on a memoryof the mobile phone on a first date and transmits the information to thecleaning robot on a second date later than the first date.
 53. Themethod of claim 46, wherein entering the operator command input into themobile phone comprises providing a voice command to the mobile phone.